Robot Quick Build Session 2010

FRC Electronics Board Assembly

Produced byKen York, Team 476

Ron Markum, Team 1750 Ed Latimer, Team 476

Special Thanks to

Oklahoma State University

Overview

During the next two hours students will assemble the electronics control system.– Veteran teams need to have brought some components from

2009’s robot as their kit of parts does not contain certain items.

After completion, the electrical assembly will be need to be programmed

After programming it will be taken to the frame area, mounted onto the robot chassis, and tested.

The Final Goal2009 Version Shown

2010 Kitbot expected to look similar

Gather the PartsLocate the Control System Box.

Inventory the contents. Report any missing components.

Locate the 120 amp circuit breaker. *

Locate the QD battery connectors.*

Locate the wiring terminals.*

Locate the 17” x 37” base plate and ‘goody’ bag w/ nuts, bolts, and velcro.

*Located in one of the tote boxes. Refer to KOP inventory sheets.

Required Tools

Wire strippers Wire cuttersWire crimpers Phillips screwdriver - #2Flat ScrewdriverSupplied Wago flat screwdriver7/16” combination wrench3/8” combination wrench 10mm combination wrenchTape measure

Required Control System Items (robot)

Place the following items on a clear workspace.

cRIO and modules, power distribution board, Jaguar controllers, digital sidecars, 120 amp breaker, 2 PWM cables, Ethernet cable, connector bag, 2 DB37 cables, and extra 10 and14 gauge wire.

Be Careful!

Make all electrical connections and ensure CIM motors are secured and safe to operate before powering any part of the control system.

Do not connect battery until instructed.

Layout

Use the provided drilling templates, drill ¼” and 3/8” holes as indicated. Accurately place templates on the base plate and tape in place. Verify the 32” spacing dimension between the two template holes.

See the pictures in the next two slides.

Needed Items

Front Drill Template

Rear Drill Template

Tape Down Templates & Drill Holes in Base Plate

Base Plate Rear Drill Template

Tape Several Places to hold

Template in Place

Make Sure Holes on Both Edges are Spaced 32”

Apart Before Taping

Layout

These Holes will be Matched Drilled After

Installing on the Frame

Layout the items similar to the picture.

Leave 1-1/4” margin around all edges. This is where the robot frame will be.

Velcro

Wiring

Wire the large battery wires. The black wire is connected directly from the half connector to the PD (Power Distribution) board.The red wire from the half connector is attached to the 120 amp circuit breaker and then on to the PD board.Note: the 120 amp breaker uses SAE threads while the PD board uses Metric threads. Do not swap the nuts!

Wiring

Make the connections as shown below.

Use the large terminals. Make good crimps.

Use ¼-20 screws and nuts to

mount

Wiring

Locate and install the DB37 cables.

Install Analog Bumper

Note: Only2 Jaguar’s &1 side car req’d.Others optional.

Use the 10-32 Bolts/nuts toAttach the cRIOTo the board

Wiring

Assemble the power cable for the cRIO. (#16 AWG)

Note: Only2 Jaguar’s &1 side car req’d.Others optional.

Wiring

Install cRIO power cable. Assemble DSC (Digital SideCar) power cables. (#14 AWG)

Wiring

Attach DSC cables to PD board.

WiringMake power wires for Jaguars used. (#10 AWG)

Crimp supplied connectors to one end.

Connect Terminals Here

Connect Ends Here

Wiring

Prepare 2 PWM Wires. The protective casing must be removed from one end.

Refer to official PWM cable modification document.

Wiring

Install PWM cables as indicated.

Connect Here, 1 & 2,White Wire to Inside

Connect Here,White to Outside

Wiring

The wiring of the electronics is complete. Wait for your Programming Team before connecting the battery.

The 2 CIM motors for driving the robot’s wheels will be connected after mounting the board to the robot.

CIMs will connect here

Drivers Station & Programming

At this point you need to switch to the PowerPoint presentation (Drivers Station 2010-1.ppt) by Team 330, a Beta Test team, showing the drivers’ station layout on the 8”x32” board (use Velcro), and giving programming guidance.